!!	create inputs

data_element create variable  &
   variable_name = .axles6.inputs_T_motion_l1  &
   initial_condition = 0.0  &
   function = "0"
   
data_element create variable  &
   variable_name = .axles6.inputs_T_motion_l2  &
   initial_condition = 0.0  &
   function = "0"
   
data_element create variable  &
   variable_name = .axles6.inputs_T_motion_l3  &
   initial_condition = 0.0  &
   function = "0"
   
data_element create variable  &
   variable_name = .axles6.inputs_T_motion_l4  &
   initial_condition = 0.0  &
   function = "0"
   
data_element create variable  &
   variable_name = .axles6.inputs_T_motion_l5  &
   initial_condition = 0.0  &
   function = "0"
   
data_element create variable  &
   variable_name = .axles6.inputs_T_motion_l6  &
   initial_condition = 0.0  &
   function = "0"
   
data_element create variable  &
   variable_name = .axles6.inputs_T_motion_r1  &
   initial_condition = 0.0  &
   function = "0"
   
data_element create variable  &
   variable_name = .axles6.inputs_T_motion_r2  &
   initial_condition = 0.0  &
   function = "0"
   
data_element create variable  &
   variable_name = .axles6.inputs_T_motion_r3  &
   initial_condition = 0.0  &
   function = "0"
   
data_element create variable  &
   variable_name = .axles6.inputs_T_motion_r4  &
   initial_condition = 0.0  &
   function = "0"
   
data_element create variable  &
   variable_name = .axles6.inputs_T_motion_r5  &
   initial_condition = 0.0  &
   function = "0"
   
data_element create variable  &
   variable_name = .axles6.inputs_T_motion_r6  &
   initial_condition = 0.0  &
   function = "0"
   
data_element create variable  &
   variable_name = .axles6.inputs_T_steer_l1  &
   initial_condition = 0.0  &
   function = "0"
   
data_element create variable  &
   variable_name = .axles6.inputs_T_steer_l3  &
   initial_condition = 0.0  &
   function = "0"
   
data_element create variable  &
   variable_name = .axles6.inputs_T_steer_l4  &
   initial_condition = 0.0  &
   function = "0"
   
data_element create variable  &
   variable_name = .axles6.inputs_T_steer_l5  &
   initial_condition = 0.0  &
   function = "0"
   
data_element create variable  &
   variable_name = .axles6.inputs_T_steer_l6  &
   initial_condition = 0.0  &
   function = "0"
   
data_element create variable  &
   variable_name = .axles6.inputs_T_steer_r1  &
   initial_condition = 0.0  &
   function = "0"
   
data_element create variable  &
   variable_name = .axles6.inputs_T_steer_r3  &
   initial_condition = 0.0  &
   function = "0"
   
data_element create variable  &
   variable_name = .axles6.inputs_T_steer_r4  &
   initial_condition = 0.0  &
   function = "0"
   
data_element create variable  &
   variable_name = .axles6.inputs_T_steer_r5  &
   initial_condition = 0.0  &
   function = "0"
   
data_element create variable  &
   variable_name = .axles6.inputs_T_steer_r6  &
   initial_condition = 0.0  &
   function = "0"
!!	create motion_steer

constraint create motion motion_name=.axles6.motion_steer_l1 &
	joint=.axles6.joint_tri_body_l1 &
	type=rotational &
	time_derivative=displacement &
	function="step(time,0,0d,5,0d)+step(time,5,0d,10,15d)+step(time,10,0d,15,-15d)"
	

constraint create motion motion_name=.axles6.motion_steer_l3 &
	joint=.axles6.joint_tri_body_l3 &
	type=rotational &
	time_derivative=displacement &
	function="step(time,0,0d,15,0d)"
	
constraint create motion motion_name=.axles6.motion_steer_l4 &
	joint=.axles6.joint_tri_body_l4 &
	type=rotational &
	time_derivative=displacement &
	function="step(time,0,0d,15,0d)"
	
constraint create motion motion_name=.axles6.motion_steer_l5 &
	joint=.axles6.joint_tri_body_l5 &
	type=rotational &
	time_derivative=displacement &
	function="step(time,0,0d,15,0d)"
	
constraint create motion motion_name=.axles6.motion_steer_l6 &
	joint=.axles6.joint_tri_body_l6 &
	type=rotational &
	time_derivative=displacement &
	function="step(time,0,0d,15,0d)"
	
	

!!	create torque_motion

undo begin
force create direct single_component_force &
    single_component_force_name=.axles6.torque_l1 &
    type_of_freedom=rotational &
    action_only = on &
    i_marker_name=.axles6.tire_l1.marker_upright &
    j_marker_name=.axles6.tire_l1.marker_upright &
    function = "VARVAL(.axles6.inputs_T_motion_l1)" &
	comments=""
mdi graphic_force object=.axles6.torque_l1 type=0
undo end

undo begin
force create direct single_component_force &
    single_component_force_name=.axles6.torque_l2 &
    type_of_freedom=rotational &
    action_only = on &
    i_marker_name=.axles6.tire_l2.marker_upright &
    j_marker_name=.axles6.tire_l2.marker_upright &
    function = "VARVAL(.axles6.inputs_T_motion_l2)" &
	comments=""
mdi graphic_force object=.axles6.torque_l2 type=0
undo end

undo begin
force create direct single_component_force &
    single_component_force_name=.axles6.torque_l3 &
    type_of_freedom=rotational &
    action_only = on &
    i_marker_name=.axles6.tire_l3.marker_upright &
    j_marker_name=.axles6.tire_l3.marker_upright &
    function = "VARVAL(.axles6.inputs_T_motion_l3)" &
	comments=""
mdi graphic_force object=.axles6.torque_l3 type=0
undo end

undo begin
force create direct single_component_force &
    single_component_force_name=.axles6.torque_l4 &
    type_of_freedom=rotational &
    action_only = on &
    i_marker_name=.axles6.tire_l4.marker_upright &
    j_marker_name=.axles6.tire_l4.marker_upright &
    function = "VARVAL(.axles6.inputs_T_motion_l4)" &
	comments=""
mdi graphic_force object=.axles6.torque_l4 type=0
undo end

undo begin
force create direct single_component_force &
    single_component_force_name=.axles6.torque_l5 &
    type_of_freedom=rotational &
    action_only = on &
    i_marker_name=.axles6.tire_l5.marker_upright &
    j_marker_name=.axles6.tire_l5.marker_upright &
    function = "VARVAL(.axles6.inputs_T_motion_l5)" &
	comments=""
mdi graphic_force object=.axles6.torque_l5 type=0
undo end

undo begin
force create direct single_component_force &
    single_component_force_name=.axles6.torque_l6 &
    type_of_freedom=rotational &
    action_only = on &
    i_marker_name=.axles6.tire_l6.marker_upright &
    j_marker_name=.axles6.tire_l6.marker_upright &
    function = "VARVAL(.axles6.inputs_T_motion_l6)" &
	comments=""
mdi graphic_force object=.axles6.torque_l6 type=0
undo end


undo begin
force create direct single_component_force &
    single_component_force_name=.axles6.torque_r1 &
    type_of_freedom=rotational &
    action_only = on &
    i_marker_name=.axles6.tire_r1.marker_upright &
    j_marker_name=.axles6.tire_r1.marker_upright &
    function = "VARVAL(.axles6.inputs_T_motion_r1)" &
	comments=""
mdi graphic_force object=.axles6.torque_r1 type=0
undo end

undo begin
force create direct single_component_force &
    single_component_force_name=.axles6.torque_r2 &
    type_of_freedom=rotational &
    action_only = on &
    i_marker_name=.axles6.tire_r2.marker_upright &
    j_marker_name=.axles6.tire_r2.marker_upright &
    function = "VARVAL(.axles6.inputs_T_motion_r2)" &
	comments=""
mdi graphic_force object=.axles6.torque_r2 type=0
undo end

undo begin
force create direct single_component_force &
    single_component_force_name=.axles6.torque_r3 &
    type_of_freedom=rotational &
    action_only = on &
    i_marker_name=.axles6.tire_r3.marker_upright &
    j_marker_name=.axles6.tire_r3.marker_upright &
    function = "VARVAL(.axles6.inputs_T_motion_r3)" &
	comments=""
mdi graphic_force object=.axles6.torque_r3 type=0
undo end

undo begin
force create direct single_component_force &
    single_component_force_name=.axles6.torque_r4 &
    type_of_freedom=rotational &
    action_only = on &
    i_marker_name=.axles6.tire_r4.marker_upright &
    j_marker_name=.axles6.tire_r4.marker_upright &
    function = "VARVAL(.axles6.inputs_T_motion_r4)" &
	comments=""
mdi graphic_force object=.axles6.torque_r4 type=0
undo end

undo begin
force create direct single_component_force &
    single_component_force_name=.axles6.torque_r5 &
    type_of_freedom=rotational &
    action_only = on &
    i_marker_name=.axles6.tire_r5.marker_upright &
    j_marker_name=.axles6.tire_r5.marker_upright &
    function = "VARVAL(.axles6.inputs_T_motion_r5)" &
	comments=""
mdi graphic_force object=.axles6.torque_r5 type=0
undo end

undo begin
force create direct single_component_force &
    single_component_force_name=.axles6.torque_r6 &
    type_of_freedom=rotational &
    action_only = on &
    i_marker_name=.axles6.tire_r6.marker_upright &
    j_marker_name=.axles6.tire_r6.marker_upright &
    function = "VARVAL(.axles6.inputs_T_motion_r6)" &
	comments=""
mdi graphic_force object=.axles6.torque_r6 type=0
undo end

!!	create torque_steer

marker create &
	marker=.axles6.tri_l1.marker_torque &
	location = 740, -210, 616.1 &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.tri_l3.marker_torque &
	location = 5650, -210, 616.1 &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.tri_l4.marker_torque &
	location = 7300, -210, 616.1 &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.tri_l5.marker_torque &
	location = 8950, -210, 616.1 &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.tri_l6.marker_torque &
	location = 11780, -210, 616.1 &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.tri_r1.marker_torque &
	location = 740, 210, 616.1 &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.tri_r3.marker_torque &
	location = 5650, 210, 616.1 &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.tri_r4.marker_torque &
	location = 7300, 210, 616.1 &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.tri_r5.marker_torque &
	location = 8950, 210, 616.1 &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.tri_r6.marker_torque &
	location = 11780, 210, 616.1 &
	orientation=0, 0, 0 
	
undo begin
force create direct single_component_force &
    single_component_force_name=.axles6.torque_steer_l1 &
    type_of_freedom=rotational &
    action_only = on &
    i_marker_name=.axles6.tri_l1.marker_torque &
    j_marker_name=.axles6.tri_l1.marker_torque &
    function = "VARVAL(.axles6.inputs_T_steer_l1)" &
	comments=""
mdi graphic_force object=.axles6.torque_l1 type=0
undo end
	
undo begin
force create direct single_component_force &
    single_component_force_name=.axles6.torque_steer_l3 &
    type_of_freedom=rotational &
    action_only = on &
    i_marker_name=.axles6.tri_l3.marker_torque &
    j_marker_name=.axles6.tri_l3.marker_torque &
    function = "VARVAL(.axles6.inputs_T_steer_l3)" &
	comments=""
mdi graphic_force object=.axles6.torque_l3 type=0
undo end
	
undo begin
force create direct single_component_force &
    single_component_force_name=.axles6.torque_steer_l4 &
    type_of_freedom=rotational &
    action_only = on &
    i_marker_name=.axles6.tri_l4.marker_torque &
    j_marker_name=.axles6.tri_l4.marker_torque &
    function = "VARVAL(.axles6.inputs_T_steer_l4)" &
	comments=""
mdi graphic_force object=.axles6.torque_l4 type=0
undo end
	
undo begin
force create direct single_component_force &
    single_component_force_name=.axles6.torque_steer_l5 &
    type_of_freedom=rotational &
    action_only = on &
    i_marker_name=.axles6.tri_l5.marker_torque &
    j_marker_name=.axles6.tri_l5.marker_torque &
    function = "VARVAL(.axles6.inputs_T_steer_l5)" &
	comments=""
mdi graphic_force object=.axles6.torque_l5 type=0
undo end
	
undo begin
force create direct single_component_force &
    single_component_force_name=.axles6.torque_steer_l6 &
    type_of_freedom=rotational &
    action_only = on &
    i_marker_name=.axles6.tri_l6.marker_torque &
    j_marker_name=.axles6.tri_l6.marker_torque &
    function = "VARVAL(.axles6.inputs_T_steer_l6)" &
	comments=""
mdi graphic_force object=.axles6.torque_l6 type=0
undo end

	
undo begin
force create direct single_component_force &
    single_component_force_name=.axles6.torque_steer_r1 &
    type_of_freedom=rotational &
    action_only = on &
    i_marker_name=.axles6.tri_r1.marker_torque &
    j_marker_name=.axles6.tri_r1.marker_torque &
    function = "VARVAL(.axles6.inputs_T_steer_r1)" &
	comments=""
mdi graphic_force object=.axles6.torque_r1 type=0
undo end
	
undo begin
force create direct single_component_force &
    single_component_force_name=.axles6.torque_steer_r3 &
    type_of_freedom=rotational &
    action_only = on &
    i_marker_name=.axles6.tri_r3.marker_torque &
    j_marker_name=.axles6.tri_r3.marker_torque &
    function = "VARVAL(.axles6.inputs_T_steer_r3)" &
	comments=""
mdi graphic_force object=.axles6.torque_r3 type=0
undo end
	
undo begin
force create direct single_component_force &
    single_component_force_name=.axles6.torque_steer_r4 &
    type_of_freedom=rotational &
    action_only = on &
    i_marker_name=.axles6.tri_r4.marker_torque &
    j_marker_name=.axles6.tri_r4.marker_torque &
    function = "VARVAL(.axles6.inputs_T_steer_r4)" &
	comments=""
mdi graphic_force object=.axles6.torque_r4 type=0
undo end
	
undo begin
force create direct single_component_force &
    single_component_force_name=.axles6.torque_steer_r5 &
    type_of_freedom=rotational &
    action_only = on &
    i_marker_name=.axles6.tri_r5.marker_torque &
    j_marker_name=.axles6.tri_r5.marker_torque &
    function = "VARVAL(.axles6.inputs_T_steer_r5)" &
	comments=""
mdi graphic_force object=.axles6.torque_r5 type=0
undo end
	
undo begin
force create direct single_component_force &
    single_component_force_name=.axles6.torque_steer_r6 &
    type_of_freedom=rotational &
    action_only = on &
    i_marker_name=.axles6.tri_r6.marker_torque &
    j_marker_name=.axles6.tri_r6.marker_torque &
    function = "VARVAL(.axles6.inputs_T_steer_r6)" &
	comments=""
mdi graphic_force object=.axles6.torque_r6 type=0
undo end



!!	create measures

measure cre function measure = .axles6.Vx_ground & 
	function = "VX(.axles6.road.marker_ground,.axles6.body.marker_head)" & 
	units = no_units & 
	create_measure_display =  no
	
measure cre function measure = .axles6.Vy_ground & 
	function = "VY(.axles6.road.marker_ground,.axles6.body.marker_head)" & 
	units = no_units & 
	create_measure_display =  no
	
measure cre function measure = .axles6.yaw_vehicle & 
	function = "YAW(.axles6.road.marker_ground,.axles6.body.marker_head)" & 
	units = no_units & 
	create_measure_display =  no
	
measure cre function measure = .axles6.Vx & 
	function = "(.axles6.Vx_ground)*COS(.axles6.yaw_vehicle)+(.axles6.Vy_ground)*SIN(.axles6.yaw_vehicle)" & 
	units = no_units & 
	create_measure_display =  no
		
measure cre function measure = .axles6.Vy & 
	function = "-(.axles6.Vx_ground)*SIN(.axles6.yaw_vehicle)+(.axles6.Vy_ground)*COS(.axles6.yaw_vehicle)" & 
	units = no_units & 
	create_measure_display =  no


   
!!	create outputs


data_element create variable  &
   variable_name = .axles6.outputs_fai  &
   initial_condition = 0.0  &
   function = "(.axles6.yaw_vehicle)"
   
data_element create variable  &
   variable_name = .axles6.outputs_Vx  &
   initial_condition = 0.0  &
   function = "(.axles6.Vx)"
   
data_element create variable  &
   variable_name = .axles6.outputs_Vy  &
   initial_condition = 0.0  &
   function = "(.axles6.Vy)"
!!	create markers

marker create &
	marker=.axles6.ground.marker_l1 &
	location =0, -1320, 680  &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.ground.marker_l2 &
	location =2200, -1320, 680  &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.ground.marker_l3 &
	location =6415, -1320, 680  &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.ground.marker_l4 &
	location =8065, -1320, 680  &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.ground.marker_l5 &
	location =9715, -1320, 680  &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.ground.marker_l6 &
	location =12545, -1320, 680  &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.ground.marker_r1 &
	location =0, 1320, 680  &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.ground.marker_r2 &
	location =2200, 1320, 680  &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.ground.marker_r3 &
	location =6415, 1320, 680  &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.ground.marker_r4 &
	location =8065, 1320, 680  &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.ground.marker_r5 &
	location =9715, 1320, 680  &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.ground.marker_r6 &
	location =12545, 1320, 680  &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.tire_l1.marker_angle &
	location =0, -1320, 680  &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.tire_l2.marker_angle &
	location =2200, -1320, 680  &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.tire_l3.marker_angle &
	location =6415, -1320, 680  &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.tire_l4.marker_angle &
	location =8065, -1320, 680  &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.tire_l5.marker_angle &
	location =9715, -1320, 680  &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.tire_l6.marker_angle &
	location =12545, -1320, 680  &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.tire_r1.marker_angle &
	location =0, 1320, 680  &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.tire_r2.marker_angle &
	location =2200, 1320, 680  &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.tire_r3.marker_angle &
	location =6415, 1320, 680  &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.tire_r4.marker_angle &
	location =8065, 1320, 680  &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.tire_r5.marker_angle &
	location =9715, 1320, 680  &
	orientation=0, 0, 0 
	
marker create &
	marker=.axles6.tire_r6.marker_angle &
	location =12545, 1320, 680  &
	orientation=0, 0, 0 
	

!!	create end

data_element create variable  &
   variable_name = .axles6.outputs_angle_l1  &
   initial_condition = 0.0  &
   function = "YAW(.axles6.ground.marker_l1,.axles6.tire_l1.marker_angle)"
   
data_element create variable  &
   variable_name = .axles6.outputs_angle_l2  &
   initial_condition = 0.0  &
   function = "YAW(.axles6.ground.marker_l2,.axles6.tire_l2.marker_angle)"
   
data_element create variable  &
   variable_name = .axles6.outputs_angle_l3  &
   initial_condition = 0.0  &
   function = "YAW(.axles6.ground.marker_l3,.axles6.tire_l3.marker_angle)"
   
data_element create variable  &
   variable_name = .axles6.outputs_angle_l4  &
   initial_condition = 0.0  &
   function = "YAW(.axles6.ground.marker_l4,.axles6.tire_l4.marker_angle)"
   
data_element create variable  &
   variable_name = .axles6.outputs_angle_l5  &
   initial_condition = 0.0  &
   function = "YAW(.axles6.ground.marker_l5,.axles6.tire_l5.marker_angle)"
   
data_element create variable  &
   variable_name = .axles6.outputs_angle_l6  &
   initial_condition = 0.0  &
   function = "YAW(.axles6.ground.marker_l6,.axles6.tire_l6.marker_angle)"
   
data_element create variable  &
   variable_name = .axles6.outputs_angle_r1  &
   initial_condition = 0.0  &
   function = "YAW(.axles6.ground.marker_r1,.axles6.tire_r1.marker_angle)"
   
data_element create variable  &
   variable_name = .axles6.outputs_angle_r2  &
   initial_condition = 0.0  &
   function = "YAW(.axles6.ground.marker_r2,.axles6.tire_r2.marker_angle)"
   
data_element create variable  &
   variable_name = .axles6.outputs_angle_r3  &
   initial_condition = 0.0  &
   function = "YAW(.axles6.ground.marker_r3,.axles6.tire_r3.marker_angle)"
   
data_element create variable  &
   variable_name = .axles6.outputs_angle_r4  &
   initial_condition = 0.0  &
   function = "YAW(.axles6.ground.marker_r4,.axles6.tire_r4.marker_angle)"
   
data_element create variable  &
   variable_name = .axles6.outputs_angle_r5  &
   initial_condition = 0.0  &
   function = "YAW(.axles6.ground.marker_r5,.axles6.tire_r5.marker_angle)"
   
data_element create variable  &
   variable_name = .axles6.outputs_angle_r6  &
   initial_condition = 0.0  &
   function = "YAW(.axles6.ground.marker_r6,.axles6.tire_l6.marker_angle)"

   
!!	create pin pout

data_element create plant input  &
plant_input_name = .axles6.pinput_1  &
	variable_name =  &
	.axles6.inputs_T_motion_l1,  &
    .axles6.inputs_T_motion_l2,  &
    .axles6.inputs_T_motion_l3,  &
    .axles6.inputs_T_motion_l4,  &
    .axles6.inputs_T_motion_l5,  &
    .axles6.inputs_T_motion_l6,  &
    .axles6.inputs_T_motion_r1,  &
    .axles6.inputs_T_motion_r2,  &
    .axles6.inputs_T_motion_r3,  &
    .axles6.inputs_T_motion_r4,  &
    .axles6.inputs_T_motion_r5,  &
    .axles6.inputs_T_motion_r6,  &
    .axles6.inputs_T_steer_l1,  &
    .axles6.inputs_T_steer_l3,  &
    .axles6.inputs_T_steer_l4,  &
    .axles6.inputs_T_steer_l5,  &
    .axles6.inputs_T_steer_l6,  &
    .axles6.inputs_T_steer_r1,  &
    .axles6.inputs_T_steer_r3,  &
    .axles6.inputs_T_steer_r4,  &
    .axles6.inputs_T_steer_r5,  &
    .axles6.inputs_T_steer_r6
!
data_element create plant output  &
plant_output_name = .axles6.poutput_1 &
	variable_name =  &
    .axles6.outputs_fai,  &
    .axles6.outputs_Vx,  &
    .axles6.outputs_Vy,  &
    .axles6.outputs_angle_l1,  &
    .axles6.outputs_angle_l2,  &
    .axles6.outputs_angle_l3,  &
    .axles6.outputs_angle_l4,  &
    .axles6.outputs_angle_l5,  &
    .axles6.outputs_angle_l6,  &
    .axles6.outputs_angle_r1,  &
    .axles6.outputs_angle_r2,  &
    .axles6.outputs_angle_r3,  &
    .axles6.outputs_angle_r4,  &
    .axles6.outputs_angle_r5,  &
    .axles6.outputs_angle_r6
   